Update Visualizer Integration Tests + Some Visualizer Fixes by matthewtrepte · Pull Request #5733 · isaac-sim/IsaacLab

matthewtrepte · 2026-05-21T20:08:52Z

Description

Improve the visualizer integration test

Unskip all tests
Add retry loop for pause/replay step to reduce flakyness
Separate out visualizer tests into separate files and kit processes
Fix camera pose of Kit Viz + Newton_MJWarp case
Add debug image capture mode (disabled by default)
Add simple tiled image check

Other visualizer fixes

Pin pyarrow to 22.0.0 to fix Rerun on Windows
Make tiled camera view instructions in the visualizer docs more explicit
Fix Newton Pyglet issue on Windows
Change tiled camera panel in Newton Viewer from "Image Logger (1)" to "Tiled Visualizer Camera"

Type of change

Bug fix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)

Screenshots

Please attach before and after screenshots of the change if applicable.

Checklist

I have read and understood the contribution guidelines
I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have updated the changelog and the corresponding version in the extension's config/extension.toml file
I have added my name to the CONTRIBUTORS.md or my name already exists there

isaaclab-review-bot

🔍 Isaac Lab Code Review

Thank you for this substantial PR improving the visualizer integration tests! I've conducted a thorough review focusing on test quality, Isaac Lab conventions, and potential issues.

✅ What's Working Well

Comprehensive Test Refactoring: The new test_visualizer_integration.py is significantly more robust than the previous implementation, with better structure and more thorough coverage of play/pause/resume cycles.
Multi-Backend Testing: The parameterized tests covering both PhysX and Newton MJWarp backends are well-designed and follow pytest best practices.
Debug Infrastructure: The debug image capture system (_WRITE_VIS_DEBUG_FRAMES, _save_visualizer_debug_image) is a valuable addition for diagnosing flaky tests.
Clean Config Reorganization (new in 6055e74): The VisualizerCfg fields are now logically grouped with section comments (Primary interactive camera, Tiled camera settings, Partial visualization, Markers, Live Plots, Internal). This improves readability significantly.
Improved UI Naming: The Newton visualizer's ImageLogger controls renamed to "Tiled Camera View" with a dedicated _draw_tiled_camera_view_controls method provides a clearer user experience.
Proper Test Separation (new in 6055e74): Splitting tiled camera tests into dedicated test_*_tiled_camera_motion functions is a much cleaner architecture than mixing assertions in the main motion tests.

✅ All Issues Resolved (`dc7e30f`)

The latest commit addresses all previously flagged items:

_WRITE_VIS_DEBUG_FRAMES = False — ✅ Now set to False by default in visualizer_integration_utils.py
Pyglet headless configuration — ✅ Handled automatically via NewtonVisualizerCfg(headless=True) which triggers runtime_headless detection in newton_visualizer.py
Rerun import guard — ✅ Now uses deferred imports inside _get_visualizer_cfg() with proper from isaaclab_visualizers.rerun import ... pattern

📋 Changes in This Update (`395ee63` → `dc7e30f`)

File	Change
`visualizer_integration_utils.py`	✅ New shared module with all test helpers; `_WRITE_VIS_DEBUG_FRAMES = False`
`test_visualizer_integration_{newton,physx}.py`	✅ Backend-specific test entry points
`test_visualizer_tiled_integration_{newton,physx}.py`	✅ Dedicated tiled camera test entry points
`newton_visualizer.py`	✅ Cross-platform headless detection (`sys.platform not in (\"win32\", \"darwin\")`)
`test_visualizer_cartpole_integration.py`	🗑️ Removed (replaced by new modular structure)

🏁 Summary

All blockers resolved! The PR is ready for merge.

Set _WRITE_VIS_DEBUG_FRAMES = False
Pyglet headless handled via cfg
Deferred rerun imports

Excellent refactoring work — the new modular test structure with separate backend/tiled test files is much cleaner.

📝 Update Review (`dc7e30f`)

This update includes additional substantial changes beyond the visualizer test improvements:

✅ New Changes Reviewed

1. Newton Sensors Stale Data Fix (Issue #4970) — Excellent fix!

Added timestamp guards to all Newton sensor kernels (ContactSensor, Imu, Pva, JointWrenchSensor)
Prevents reading stale pre-reset physics data when scene.reset(env_ids) is called without a subsequent physics step
Comprehensive regression tests added for each sensor type
PhysX sensors also updated with matching timestamp guards

2. OVRTX Renderer Cleanup

Removed legacy OVRTX 0.2.x code paths (good cleanup for forward compatibility)
Removed _IS_OVRTX_0_3_0_OR_NEWER checks and legacy kernels
Simplified create_scene_partition_attributes() signature

3. PhysX Scene-Data Rigid Body View Fix

Changed from wildcard patterns to exact prim paths
Avoids spurious warnings for assets with joint prims sharing body names

4. PPISP Camera Discovery Fix

Fixed auto_camera_ppisp_cfg() to continue scanning when generated RenderProducts lack PPISP child
Added test case for this edge case

5. Kitless Launch Handling

Fixed explicit --viz none handling
Properly detects visualizer_explicit=True with visualizer=None case

6. Visualizer Test Refactoring

Tests properly split into separate files per physics backend
Tiled camera tests in dedicated files
Shared utilities in visualizer_integration_utils.py

7. Documentation Updates

Removed "experimental" statement from isaaclab_ov package docs
Added comprehensive changelogs for all fixes

✅ Code Quality

All changes follow Isaac Lab conventions:

Proper changelog entries in changelog.d/
Clear docstrings referencing issue numbers
Comprehensive test coverage for all fixes
Clean separation of concerns

No new issues identified. The PR continues to be ready for merge.

Automated review by Isaac Lab Review Bot | Updated for commit dc7e30f

📝 Update Review (`90c5a6e`)

The latest commits add a substantial pyproject.toml migration across the entire Isaac Lab codebase. This is a clean modernization effort.

✅ Migration Changes Reviewed

1. Build System Migration

All setup.py files removed across 18+ subpackages
Package metadata moved to pyproject.toml [project] sections
Build requirements simplified: removed toml dependency from build-system
Uses setuptools>=70.0,<82.0.0 consistently

2. Runtime Dependency Updates

Replaced third-party toml with stdlib tomllib (Python 3.11+)
SimulationContext and tests now use tomllib for reading .kit preset files
__version__ now uses importlib.metadata.version() pattern consistently

3. Test Dependencies Refactored

Test packages (pytest, pytest-mock, junitparser, flatdict, flaky, coverage>=7.6.1) moved from base deps to [test] optional extra
Docker images updated to install pytest explicitly
CI action (.github/actions/run-tests/action.yml) now installs test deps before running

4. Other Fixes

PhysX Rigid Body View: Restored wildcard patterns (/World/envs/env_*) for scene-data rigid body view — fixes Newton visualizers not updating live PhysX transforms
License Exception: Updated typing_extensions license from PSF-2.0 to Python Software Foundation License
Changelog CLI: Added version sync check between extension.toml and pyproject.toml

5. Minor Code Cleanup

install.py references updated from setup.py to pyproject.toml
Observation manager test fixed for whitespace sensitivity in table rendering
Benchmark utils updated to use pyproject.toml as repo marker
isaaclab_rl extra names normalized to PEP 685 hyphenated forms (rsl-rl, rl-games)

✅ Quality Assessment

All changes follow Isaac Lab conventions:

Proper changelog entries in changelog.d/
Consistent patterns applied across all packages
Good use of importlib.metadata for version detection with PackageNotFoundError fallback
Tests updated to match new structure

No issues found. This is a well-executed modernization.

Automated review by Isaac Lab Review Bot | Updated for commit 90c5a6e

📝 Update Review (`5b41c70`)

Documentation-only update adding known issue documentation for Newton + Digit robots.

✅ Changes Reviewed

1. Newton Closed-Loop Articulation Limitation

Added detailed known issue to docs/source/refs/issues.rst explaining why Digit robots don't work on Newton
The root cause (duplicate link slots in ArticulationView for bodies that are children of multiple joints) is well-documented
Workaround provided: use physx preset until upstream fix lands

2. Environment Table Updates

Updated docs/source/overview/environments.rst to remove newton_mjwarp from supported physics presets for Digit environments
Affects: Isaac-Velocity-Flat-Digit-v0, Isaac-Velocity-Rough-Digit-v0, Isaac-Tracking-LocoManip-Digit-v0

3. Changelog Skip Marker

Added changelog.d/octi-docs-digit-newton-known-limitation.skip appropriately for docs-only change

✅ Quality Assessment

Documentation is accurate and technically detailed
Follows Isaac Lab documentation conventions
Properly uses changelog skip marker for docs-only changes

No issues found. PR remains ready for merge.

Automated review by Isaac Lab Review Bot | Updated for commit 5b41c70

greptile-apps · 2026-05-21T20:14:16Z

Greptile Summary

This PR replaces the old test_visualizer_cartpole_integration.py with a new, more comprehensive test_visualizer_integration.py that unskips all visualizer tests, adds retry logic for flaky pause/replay steps, fixes the Kit Viz + Newton MJWarp camera pose, and introduces a debug image capture mode. It also adds new SceneDataBackend and SceneDataProvider abstractions in isaaclab.physics and isaaclab.scene, and adjusts KitVisualizer to allow camera sensor creation in headless mode while skipping only the UI image window.

_WRITE_VIS_DEBUG_FRAMES = True is set in the new test file, contradicting the PR description of "disabled by default"; this causes PNG files to be written on every CI run and introduces a hard Pillow dependency.
pyglet.options[\"headless\"] = True was present in the deleted file with an explicit comment explaining its necessity for Newton's ViewerGL but was not carried over, risking display-related failures on headless CI.
SceneDataProvider._walk_camera_prims assigns world_id=0 to cameras outside /World/envs/ paths, which may silently conflate global cameras with env_0 slot data."

Confidence Score: 3/5

Two test-file issues need fixing before merging: the debug PNG write flag is enabled by default and the pyglet headless guard was dropped, both of which can cause unexpected CI failures.

The debug flag being left as True will write PNG files on every CI run and adds an implicit Pillow requirement; the missing pyglet headless setup is a regression from the deleted file that the original comment explicitly called out as required for headless Newton ViewerGL. Both issues are in the test path, not production code, but can cause CI runs to fail or behave unexpectedly.

source/isaaclab_visualizers/test/test_visualizer_integration.py needs the debug flag corrected and the pyglet headless setup restored; source/isaaclab/isaaclab/scene/scene_data_provider.py warrants a second look at how non-env-path cameras are handled in _walk_camera_prims.

Important Files Changed

Filename	Overview
source/isaaclab_visualizers/test/test_visualizer_integration.py	New consolidated integration test replacing the deleted file; _WRITE_VIS_DEBUG_FRAMES is True (should be False per PR description) and the pyglet headless setup required for Newton's ViewerGL on headless CI was dropped.
source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer.py	Moves the headless-mode guard for camera setup to allow camera sensor creation in headless mode while skipping only the UI image window; splits _update_camera_image_panel guard so camera pose updates run even without an image provider.
source/isaaclab/isaaclab/scene/scene_data_provider.py	New SceneDataProvider with Warp conversion kernels and USD camera/env traversal. Non-env-path cameras silently get world_id=0 in _walk_camera_prims, which can mix global cameras into env_0 slots.
source/isaaclab/isaaclab/physics/scene_data_backend.py	New abstract SceneDataBackend interface with four Warp struct formats; clean separation from isaaclab.scene to avoid AppLauncher import ordering issues.
source/isaaclab_visualizers/test/test_visualizer_cartpole_integration.py	Deleted file intentionally replaced by test_visualizer_integration.py.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A["KitVisualizer._setup_camera_sensor_view()"] --> B{uses_camera_sensor_view?}
    B -- No --> Z[return]
    B -- Yes --> C{cameras_enabled?}
    C -- No --> ERR[raise RuntimeError]
    C -- Yes --> D[Create / resolve camera sensor]
    D --> E{runtime_headless?}
    E -- No --> F[_setup_camera_image_window]
    E -- Yes --> G[Log: running without image panel]
    H["KitVisualizer._update_camera_image_panel()"] --> I{camera_sensor is None?}
    I -- Yes --> Z2[return]
    I -- No --> J[Update owned camera poses]
    J --> K[camera_sensor.update]
    K --> L{camera_image_provider is None?}
    L -- Yes --> Z3[return]
    L -- No --> M[camera_rgb_batch → upload to panel]

_{Reviews (1): Last reviewed commit: "sync" | Re-trigger Greptile}

greptile-apps · 2026-05-21T20:14:20Z

+    "isaaclab.sim.simulation_context",
+)
+
+_WRITE_VIS_DEBUG_FRAMES = True


Debug flag enabled in test code — contradicts PR description

The PR description states that debug image capture is "disabled by default," but _WRITE_VIS_DEBUG_FRAMES = True means every CI run will write PNG files to logs/viz_integration_captures. This also introduces a hard runtime dependency on PIL (imported inside _save_visualizer_debug_image); if Pillow is not in the test dependencies, every test that reaches frame-capture paths will raise an ImportError.

Suggested change

_WRITE_VIS_DEBUG_FRAMES = True

_WRITE_VIS_DEBUG_FRAMES = False

"""Whether to emit visualizer debug PNGs during integration tests."""

greptile-apps · 2026-05-21T20:14:21Z

+from __future__ import annotations
+
+import warp as wp
+
+from isaaclab.app import AppLauncher
+
+# launch Kit app
+simulation_app = AppLauncher(headless=True, enable_cameras=True).app


Missing pyglet headless configuration required for Newton ViewerGL

The deleted test_visualizer_cartpole_integration.py contained an explicit comment explaining this requirement: "Pyglet must use HeadlessWindow (EGL) before pyglet.window is imported so Newton ViewerGL can construct without an X11 display." The new file omits import pyglet; pyglet.options["headless"] = True before AppLauncher. On headless CI machines without X11/Wayland, pyglet may fall back to a crashing backend at window-construction time, causing Newton visualizer tests to fail with a display error.

Suggested change

from __future__ import annotations

import warp as wp

from isaaclab.app import AppLauncher

# launch Kit app

simulation_app = AppLauncher(headless=True, enable_cameras=True).app

from __future__ import annotations

import warp as wp

# Pyglet must use HeadlessWindow (EGL) before ``pyglet.window`` is imported so Newton

# ViewerGL can construct without an X11 display (matches ``headless=True`` on NewtonVisualizerCfg).

import pyglet

pyglet.options["headless"] = True

from isaaclab.app import AppLauncher

# launch Kit app

simulation_app = AppLauncher(headless=True, enable_cameras=True).app

greptile-apps · 2026-05-21T20:14:22Z

+    if visualizer_kind == "rerun":
+        __import__("newton")
+        from isaaclab_visualizers.rerun import RerunVisualizer, RerunVisualizerCfg
+
+        web_port, grpc_port = _allocate_rerun_test_ports(host="127.0.0.1")


Missing __import__("rerun") guard inconsistent with viser handling

For viser (line 255) the code guards with __import__("viser") before the lazy import, allowing a clean skip if the package is absent. The __import__("rerun") guard present in the deleted file was removed, so a missing rerun package now produces an ImportError from the from isaaclab_visualizers.rerun import ... line rather than a clean skip signal.

greptile-apps · 2026-05-21T20:14:23Z

+    Args:
+        stage: USD stage to traverse, or ``None``.
+
+    Returns:
+        Dictionary with keys ``order`` (template prim paths using ``env_%d``),
+        ``positions``, ``orientations`` (per-camera, per-env, with ``None`` for
+        absent envs), and ``num_envs``. Returns ``None`` when ``stage`` is ``None``.
+    """
+    if stage is None:
+        return None
+


Non-env-path cameras silently assigned world_id=0

In _walk_camera_prims, world_id is reset to 0 at the top of each iteration. Any camera prim whose path does not match _ENV_PATH_RE (e.g. /World/Camera) gets world_id=0, and the if world_id > num_envs: num_envs = world_id branch updates num_envs from -1 to 0. After num_envs += 1 the result is 1, so that global camera is placed into per_world_pos[0] — indistinguishable from an env_0 camera. Callers iterating the result by environment index will silently receive a global camera pose as if it belongs to env_0.

isaaclab-review-bot · 2026-05-26T22:13:10Z

🤖 Incremental Review Update (`395ee63`)

Changes since last review (004a12c):

Summary of New Changes

This update continues the CI/test infrastructure improvements with the following key changes:

1. New `exclude-pattern` Parameter for Test Filtering (.github/actions/*)

Added exclude-pattern input to both run-package-tests and run-tests actions
Supports comma-separated substrings for excluding test files
Combines with existing filter-pattern (include + exclude logic)
Good enhancement for more granular test selection ✅

2. JUnit XML Upload Steps (.github/workflows/*)

Added JUnit XML artifact upload to run-tests/action.yml
Added JUnit XML artifact upload to install-ci.yml for both uv and conda jobs
Improves test result visibility and integration with CI tooling ✅

3. Non-root Verification Consolidation (.github/workflows/build.yaml)

Removed standalone verify-base-non-root and verify-curobo-non-root jobs
Folded non-root verification steps directly into test-isaaclab-ov and test-curobo jobs
This reduces runner usage while maintaining the regression checks ✅
Updated triggered_jobs description to reflect the change

4. Rendering Test Exclusion

Added exclude-pattern: "test_rendering_" to all three test-isaaclab-tasks-* shards
Removed RENDERING_CORRECTNESS_TESTS and RENDERING_CORRECTNESS_KITLESS_TESTS from tools/test_settings.py
Removed large integration test section from test_shadow_hand_vision_presets.py (the _RENDER_CORRECTNESS_CASES parametrized tests and test_camera_renders_not_empty)

5. Dockerfile arm64 Dependency

Added libgmp-dev for arm64 builds (required by pytetwild's fTetWild source build)

6. Changelog Consolidation

Removed changelog.d fragments that were incorporated into main changelogs
Updated isaaclab_ov version to 0.4.1 with proper CHANGELOG.rst entry

Review Assessment

The changes are well-structured CI improvements that:

Reduce runner time by consolidating non-root verification into existing test jobs
Improve test filtering flexibility with the new exclude-pattern
Clean up test settings by properly excluding rendering tests via CI config rather than Python skip lists

No concerns identified with this update. The changes appear to be straightforward CI workflow optimizations and test infrastructure cleanup.

Reviewed commits: 004a12c → 395ee63

…m#5733)  Improve the visualizer integration test - Unskip all tests - Add retry loop for pause/replay step to reduce flakyness - Separate out visualizer tests into separate files and kit processes - Fix camera pose of Kit Viz + Newton_MJWarp case - Add debug image capture mode (disabled by default) - Add simple tiled image check Other visualizer fixes - Pin pyarrow to 22.0.0 to fix Rerun on Windows - Make tiled camera view instructions in the visualizer docs more explicit - Fix Newton Pyglet issue on Windows - Change tiled camera panel in Newton Viewer from "Image Logger (1)" to "Tiled Visualizer Camera"   - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) Please attach before and after screenshots of the change if applicable.  - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there

… teleop/mimic dependency (#5829) # Description Cherry pick bug fix PRs from develop: - #5821 - #5820 - #5733 - #5824 --------- Signed-off-by: peterd-NV <peterd@nvidia.com> Co-authored-by: peterd-NV <peterd@nvidia.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com> Co-authored-by: matthewtrepte <mtrepte@nvidia.com>

matthewtrepte requested review from Mayankm96, jtigue-bdai and kellyguo11 as code owners May 21, 2026 20:08

github-actions Bot added documentation Improvements or additions to documentation isaac-lab Related to Isaac Lab team labels May 21, 2026

isaaclab-review-bot Bot reviewed May 21, 2026

View reviewed changes

greptile-apps Bot reviewed May 21, 2026

View reviewed changes

matthewtrepte requested review from Toni-SM, hhansen-bdai, ooctipus and pascal-roth as code owners May 27, 2026 21:00

github-actions Bot added the infrastructure label May 27, 2026

matthewtrepte changed the title ~~Update Visualizer Integration Tests~~ Update Visualizer Integration Tests + Some Visualizer Fixes May 27, 2026

trim PR down

742b5aa

matthewtrepte force-pushed the mtrepte/update_viz_integration_test branch from 8db166f to 742b5aa Compare May 27, 2026 21:17

matthewtrepte added 2 commits May 27, 2026 21:31

tweaks

b808276

add gui instructions

c4af93a

matthewtrepte force-pushed the mtrepte/update_viz_integration_test branch from 26f8d6d to c4af93a Compare May 27, 2026 22:44

matthewtrepte added 6 commits May 27, 2026 15:44

Merge branch 'develop' into mtrepte/update_viz_integration_test

662b93a

disable debug mode

dc7e30f

revert PR

e0103ee

changelog

9b585ff

sync

90c5a6e

Merge branch 'develop' into mtrepte/update_viz_integration_test

5b41c70

kellyguo11 approved these changes May 28, 2026

View reviewed changes

kellyguo11 merged commit 1efa48a into isaac-sim:develop May 28, 2026
60 of 61 checks passed

kellyguo11 mentioned this pull request May 28, 2026

Cherry-picks fixes for visualizers, SKRL template, digit limitations, teleop/mimic dependency #5829

Merged

aserifi mentioned this pull request May 28, 2026

Fix Newton viewer black screen from camera type mismatch #5497

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Update Visualizer Integration Tests + Some Visualizer Fixes#5733

Update Visualizer Integration Tests + Some Visualizer Fixes#5733
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	_WRITE_VIS_DEBUG_FRAMES = True
	_WRITE_VIS_DEBUG_FRAMES = False
	"""Whether to emit visualizer debug PNGs during integration tests."""

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🔍 Isaac Lab Code Review

✅ What's Working Well

✅ All Issues Resolved (dc7e30f)

📋 Changes in This Update (395ee63 → dc7e30f)

🏁 Summary

📝 Update Review (dc7e30f)

✅ New Changes Reviewed

✅ Code Quality

📝 Update Review (90c5a6e)

✅ Migration Changes Reviewed

✅ Quality Assessment

📝 Update Review (5b41c70)

✅ Changes Reviewed

✅ Quality Assessment

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greptile-apps Bot commented May 21, 2026

Greptile Summary

Confidence Score: 3/5

Important Files Changed

Flowchart

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isaaclab-review-bot Bot commented May 26, 2026

🤖 Incremental Review Update (395ee63)

Summary of New Changes

1. New exclude-pattern Parameter for Test Filtering (.github/actions/*)

2. JUnit XML Upload Steps (.github/workflows/*)

3. Non-root Verification Consolidation (.github/workflows/build.yaml)

4. Rendering Test Exclusion

5. Dockerfile arm64 Dependency

6. Changelog Consolidation

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✅ All Issues Resolved (`dc7e30f`)

📋 Changes in This Update (`395ee63` → `dc7e30f`)

📝 Update Review (`dc7e30f`)

📝 Update Review (`90c5a6e`)

📝 Update Review (`5b41c70`)

🤖 Incremental Review Update (`395ee63`)

1. New `exclude-pattern` Parameter for Test Filtering (.github/actions/*)